Abstract
Even though a lot of work has been done to improve the stability of haptic interfaces, increasing the impedance range and enhancing the rate-hardness still remains a challenging task. The Successive Force Augmentation approach was proposed to improve the impedance range and rate-hardness of haptic interfaces by introducing an adaptive feed-forward offset to the feedback force, while maintaining the desired stiffness value. In this paper, we modify the Successive Force Augmentation approach to eliminate the push backs resulting from high stiffness haptic contacts and guarantee stability by implementing the Time Domain Passivity Approach in series with the modified Successive Force Augmentation approach. In order to validate the proposed controller, high stiffness haptic interaction and teleoperation with high stiffness virtual fixture experiments on two different devices are carried out.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Colgate, J.E., Stanley, M.C., Brown, J.M.: Issues in the haptic display of tool use. In: Proceedings. 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems 95.’Human Robot Interaction and Cooperative Robots, vol. 3, pp. 140–145. IEEE (1995)
Diolaiti, N., Niemeyer, G., Barbagli, F., Salisbury, J.K.: Stability of haptic rendering: discretization, quantization, time delay, and coulomb effects. IEEE Trans Robot. 22(2), 256–268 (2006)
Hager, G.D., Okamura, A.M., Kazanzides, P., Whitcomb, L.L., Fichtinger, G., Taylor, R.H.: Surgical and interventional robotics: part iii [tutorial]. IEEE Robot. Autom. Mag. 15(4), 84–93 (2008)
Cacace, J., Finzi, A., Lippiello, V.: A mixed-initiative control system for an aerial service vehicle supported by force feedback. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1230–1235. IEEE (2014)
Abbott, J.J., Marayong, P., Okamura, A.M.: Haptic virtual fixtures for robot-assisted manipulation. In: Robotics Research, pp. 49–64. Springer (2007)
Hannaford, B., Ryu, J.-H.: Time-domain passivity control of haptic interfaces. Robot. Autom. IEEE Trans. 18(1), 1–10 (2002)
Niemeyer, G., Slotine, J.-J.: Stable adaptive teleoperation. IEEE J. Oceanic Eng. 16(1), 152–162 (1991)
Anderson, R.J., Spong, M.W.: Bilateral control of teleoperators with time delay. IEEE Trans. Autom. control 34(5), 494–501 (1989)
Kim, J.-P., Baek, S.-Y., Ryu, J.: A force bounding approach for multi-degree-of-freedom haptic interaction. Mech. IEEE/ASME Trans. 20(3), 1193–1203 (2015)
Franken, M., Stramigioli, S., Misra, S., Secchi, C., Macchelli, A.: Bilateral telemanipulation with time delays: a two-layer approach combining passivity and transparency. IEEE Trans. Robot. 27(4), 741–756 (2011)
Vulliez, M., Zeghloul, S., Khatib, O.: Design strategy and issues of the delthaptic, a new 6-DOF parallel haptic device. Mech. Mach. Theory 128, 395–411 (2018)
Najmaei, N., Asadian, A., Kermani, M.R., Patel, R.V.: Design and performance evaluation of a prototype MRF-based haptic interface for medical applications. IEEE/ASME Trans. Mech. 21(1), 110–121 (2016)
Jafari, A., Ryu, J.H.: Input-to-state stable approach to release the conservatism of passivity-based stable haptic interaction. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 285–290, May 2015
Desai, I., Gupta, A., Chakraborty, D.: Rendering stiff virtual walls using model matching based haptic controller. IEEE Trans. Haptics 12(2), 166–178 (2019)
Mitra, S.K.: Analysis and Synthesis of Linear Active Networks. John Wiley & Sons, Cambridge (1969)
Llewellyn, F.: Some fundamental properties of transmission systems. Proc. IRE 40(3), 271–283 (1952)
van Beek, F.E., Heck, D.J., Nijmeijer, H., Bergmann Tiest, W.M., Kappers, A.M.: The effect of damping on the perception of hardness. In: World Haptics Conference (WHC), 2015 IEEE, pp. 82–87. IEEE (2015)
Lawrence, D., Pao, L.Y., Dougherty, A.M., Salada, M., Pavlou, Y., et al.: Rate-hardness: a new performance metric for haptic interfaces. Robot. Autom. IEEE Trans. 16(4), 357–371 (2000)
Singh, H., Janetzko, D., Jafari, A., Weber, B., Lee, C.-I., Ryu, J.-H.: Enhancing the rate-hardness of haptic interaction: successive force augmentation approach. IEEE Trans. Ind. Electron. 67(1), 809–819 (2019)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Singh, H., Rothammer, M., Lee, CI., Hulin, T., Ryu, JH., Ott, C. (2021). Ensuring Stable and Transparent High Stiffness Haptic Interaction Using Successive Force Augmention with Time Domain Passivity Approach. In: Siciliano, B., Laschi, C., Khatib, O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_24
Download citation
DOI: https://doi.org/10.1007/978-3-030-71151-1_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-71150-4
Online ISBN: 978-3-030-71151-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)